CN108871317B - High-precision star sensor information processing system - Google Patents
High-precision star sensor information processing system Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a high-precision star sensor information processing system, the FPGA module of which comprises: the photoelectric detector time sequence generator module transmits a detector driving signal; the image processing module is used for receiving and processing star map data output by the detector; the protocol layer data interaction control module performs protocol interaction with external equipment; the CPU cooperative work interface module is connected with an external CPU processor; a data management module for managing various data packets; and a precision temperature control module. The invention shares the calculation load of the CPU and obviously improves the parallel information processing capability; the sequential control, the image background estimation and the star point mass center extraction of the photoelectric detector are completed in real time, and the requirements of real-time image processing and a high-reliability stray light resisting image processing strategy are met; the temperature of the detector is acquired in real time, the precise temperature control technology of the semiconductor refrigerator is realized, the integration level of a circuit system is improved, the cost is reduced, the product is miniaturized, and the measurement precision of the star sensor is improved.
Description
Technical Field
The invention relates to the field of star sensors, in particular to a high-precision star sensor information processing system.
Background
The star sensor is one of the key measuring mechanisms of the attitude and orbit control system of the spacecraft, is used for measuring the component of a star vector in a star sensor coordinate system, is identified through a star map, and determines the three-axis attitude of a satellite relative to an inertial coordinate system by using the precise position of a known star. The star sensor generally comprises a precise optical and structural system, a photoelectric detection and signal processing circuit, software and the like.
The attitude measurement error of the star sensor is mainly determined by a view field, the number of detector pixels, the extraction error of star point positions and the average star point number in the view field. High-precision star sensors generally require an improvement in star point extraction precision, a reduction in field of view, an improvement in star point data involved in attitude calculation, and a maintenance of the focal plane at a stable temperature.
The star point extraction error mainly comes from the integral translation and energy distribution change of the star point image position caused by lens aberration and temperature change, the systematic error of a sub-pixel extraction algorithm, and the noise error of a detector and a circuit. On one hand, the reduction and elimination are carried out through specific engineering methods such as optimization of lens design, optimization of star sensitive structure design and material selection, star sensor calibration and calibration, optimization of circuit design and the like; on the other hand, by the refrigeration technology, the focal plane of the star sensor is controlled at a stable temperature point, the error is reduced by optimizing an information processing algorithm, and the precision of the star sensor is improved.
The related contents of integrating a photoelectric detector timing generator, image processing, protocol layer data interaction control, a CPU cooperative work interface, data management and precise temperature control into an FPGA to realize a high-precision star sensor information processing system are not disclosed in the prior art. The FPGA completes the functions, the integration level of a circuit system is improved, and cost reduction and product miniaturization are facilitated; the advantages of parallel processing can be fully exerted, and the processing burden and time overhead of the CPU are reduced.
Disclosure of Invention
The invention aims to provide a high-precision star sensor information processing system, which integrates image preprocessing of a star sensor, control of a semiconductor refrigerator and control of various interfaces, adopts FPGA (field programmable gate array) to realize integration of a photoelectric detector timing sequence generator, image processing, protocol layer data interaction control, a CPU (central processing unit) cooperative interface, data management and precision temperature control into the FPGA in parallel, namely adopts the FPGA to complete the functions of timing sequence control, image preprocessing and target extraction, protocol layer data interaction, a CPU cooperative interface, data management, precision temperature control and the like of the photoelectric detector of the star sensor, and realizes the functions of information processing, interaction, access control of external equipment and the like of the high-precision star sensor.
The invention discloses a high-precision star sensor information processing system, which comprises an FPGA module, wherein the FPGA module is provided with:
the photoelectric detector time sequence generator module is connected with the detector and used for transmitting a detector driving signal;
the image processing module is connected with the detector, receives the star map data output by the detector, and processes the star map data to obtain a star map data processing result;
the protocol layer data interaction control module performs protocol interaction with external equipment;
the CPU cooperative work interface module is connected with an external CPU processor and used for data interaction;
the data management module is used for managing various data packets and is respectively connected with the image processing module, the protocol layer data interaction control module and the CPU cooperative work interface module to correspondingly carry out data interaction;
and the precision temperature control module is respectively connected with the protocol layer data interaction control module, the temperature acquisition module and the current acquisition module and respectively receives the switch, the control parameters, the temperature digital data and the current digital data.
Preferably, the data management module is connected to an external data SRAM, and stores the star atlas data processing result sent by the image processing module into the data SRAM after receiving the star atlas data processing result.
Preferably, the CPU cooperative work interface module is connected with the program SRAM and outputs a chip selection and read-write control signal set to the program SRAM; and/or the CPU cooperative work interface module is connected with the program FLASH and outputs a chip selection and read-write control signal set to the program FLASH.
Preferably, the CPU cooperative interface module completes read and write operations of the CPU to the external memory through the data management module, and completes generation of an interrupt signal of the CPU and control of a watchdog signal.
Preferably, the memory adopts a ping-pong memory to realize the handshake timing design of the read control and the write control of various data of the memory, meet the read-write requirements of various data and avoid the read-write conflict of the data access of the memory.
Preferably, the photodetector timing generator module receives the exposure mode flag from the data management module, adaptively generates different driving signals to drive the detector, and the detector generates pixel gray scale information after receiving the driving signals and outputs the pixel gray scale information to the image processing module; the photoelectric detector timing generator module adaptively adjusts the generated timing signal to realize variable exposure time control, and the signal for controlling the exposure time is synchronous with an external hardware pulse signal;
the image processing module receives the row valid, column valid, pixel valid and exposure mode marks output by the photoelectric detector time sequence generator module, preprocesses image data and outputs the processed data to the data management module; the image processing module is divided into two processing modes: firstly, estimating the background of star atlas data and extracting a target based on the estimated background so as to realize noise resistance and halation resistance; and secondly, collecting pixel information of the small window for the CPU to finish image processing of the small window so as to improve the data updating rate and the stray light resistance of the star sensor.
Preferably, the protocol layer data interaction control module is connected with an upper computer for data interaction.
Preferably, the protocol layer data interaction control module is integrated with a serial port and a high-speed data transmission interface; after receiving a serial port instruction, a command analysis unit in the protocol layer data interaction control module analyzes the command, generates a corresponding control signal according to the content of the command, and a command response unit receives the control signal and generates response data of the command to be sent through a serial port; when the 1553B bus interface module is enabled, data interaction is carried out through a 1553B bus; when the high-speed data transmission module is enabled by the serial port command, reading data to be sent in the data management module, and sending the data through the high-speed data transmission interface;
all interfaces of the protocol layer data interaction control module can be processed in parallel, and can simultaneously face to a GNC computer, a data transmission subsystem computer and an effective load to carry out data interaction.
Preferably, the precision temperature control module is connected with a semiconductor refrigerator and outputs a PWM signal to the semiconductor refrigerator.
Preferably, the precision temperature control module comprises:
the temperature acquisition module is used for acquiring the temperature of the detector;
a PID control module which realizes a PID algorithm and outputs a control quantity;
and the PWM module generates PWM pulses according to the control quantity output by the PID control module and controls the semiconductor refrigerator.
Compared with the prior art, the invention has the beneficial effects that: (1) all modules of the invention are realized based on FPGA, and the advantage of parallel processing of FPGA is fully utilized. (2) The photoelectric detector timing generator module adaptively adjusts the generated timing signal according to the working mode of the high-precision star sensor, realizes variable exposure time control, and synchronizes the exposure time control signal with an external hardware pulse signal. The image processing module is divided into two processing modes according to different modes: firstly, background estimation of star map data and target extraction based on an estimated background are carried out, an anti-noise and anti-halation sub-pixel level high-precision star sensor image processing technology is realized, image processing and detector exposure are carried out synchronously, and image processing is completed when the exposure is finished; secondly, collecting the pixel information of the small window according to the control requirement, and supplying the pixel information to the CPU to finish the image processing of the small window, aiming at improving the data updating rate and the stray light resistance of the star sensor. (3) The invention integrates a serial port communication protocol with an attitude and orbit control subsystem, a communication protocol with a satellite model, a 1553B bus interface protocol and a high-speed data transmission communication protocol; all the interfaces can be processed in parallel, namely, the interfaces can simultaneously face to a GNC computer, a data transmission subsystem computer, an effective load and the like for data interaction. (4) The invention realizes the handshake time sequence design of the read control and the write control of various data of the memory through the working mode and the use of the ping-pong memory, meets the read-write requirements of various data and avoids the read-write conflict of the data access of the memory. (5) The precise temperature control module realizes the real-time collection of temperature information, and simultaneously integrates the precise temperature control technology of the semiconductor refrigerator of the star sensor, so that the temperature control precision of the focal plane is stably better than +/-0.25 ℃, and the measurement precision of the star sensor is improved. (6) The invention integrates the functions of image processing, protocol layer data interaction, precise temperature control and the like into the FPGA, shares the calculation load of a CPU, obviously improves the parallel information processing capability, promotes the integration level of a circuit system, and is beneficial to reducing the cost and miniaturizing products.
Drawings
FIG. 1 is a general block diagram of a high-precision star sensor information processing system of the present invention;
FIG. 2 is an image processing dataflow diagram of the present invention;
FIG. 3 is a functional block diagram of a CPU cooperative interface module of the present invention;
FIG. 4 is a functional block diagram of a protocol layer data interaction control module according to the present invention;
FIG. 5 is a functional block diagram of a precision temperature control module of the present invention.
Detailed Description
The invention discloses a high-precision star sensor information processing system, which is further explained with reference to the accompanying drawings and the detailed implementation mode in order to make the invention more obvious and understandable.
As shown in fig. 1, the high-precision star sensor information processing system of the invention comprises an FPGA module, and the FPGA module can complete functions of timing control, image preprocessing and target extraction, protocol layer data interaction, a CPU cooperative interface, data management, precision temperature control and the like of a star sensor photodetector, thereby realizing functions of high-precision star sensor information processing, interaction, access control of external devices and the like.
As shown in fig. 1, the FPGA module includes a photodetector timing generator module, an image processing module, a protocol layer data interaction control module, a CPU cooperative interface module, a data management module, and a precision temperature control module.
The photoelectric detector time sequence generator module is connected with the detector and the video signal processing circuit, sends a detector driving signal and a video processing control signal to the detector and the video signal processing circuit, and correspondingly outputs an image signal or a control signal by the detector and the video signal processing circuit.
The data management module completes the management of various data packets. The data management module is connected with the detector and the video signal processing circuit and receives digital image signals or control signals. The data management module is connected with a Static Random-Access Memory (SRAM) for performing interaction of data, address and control signals.
The data management module is connected with the image processing module, the image processing module is connected with the detector and the video signal processing circuit, and then the image processing module receives the image signals or the control signals output by the detector and the video signal processing circuit, processes the image signals, and outputs star map data processing results to be stored in a data SRAM connected with the data management module.
The data management module is also in communication connection with the protocol layer data interaction control module and the CPU cooperative work interface module to carry out data interaction.
The data management module integrates various FPGA module internal memories, read-write control of the memories, read-write control of an external memory and timing management of the star sensor. The handshake time sequence design of reading control and writing control of various data of the memory is realized through the working mode and the use of the ping-pong memory, the reading and writing requirements of various data are met, and the reading and writing conflict of memory data access is avoided.
The CPU cooperative work interface module is connected with the CPU processor to carry out interaction of data, addresses and control signals, so that the external CPU processor completes data interaction with the high-precision star sensor information processing system through the CPU cooperative work interface module. The CPU cooperative work interface module is connected with the program SRAM and outputs a chip selection and read-write control signal set to the program SRAM, and the CPU cooperative work interface module is connected with the program FLASH (a memory device) and outputs a chip selection and read-write control signal set to the program FLASH.
And the protocol layer data interaction control module completes the protocol interaction between the star sensor and the external equipment. For example, the protocol layer data interaction control module is connected with an upper computer for data interaction.
The precise temperature control module is respectively connected with the protocol layer data interaction control module, the temperature acquisition module and the current acquisition module, and correspondingly receives the switch and control parameters, the temperature digital data and the current digital data; the precision temperature control module also sends the PWM signal to the semiconductor chiller to which it is connected.
All modules in the embodiment are realized based on the FPGA, so that the integration level of a circuit system is improved, and the cost is reduced and the product is miniaturized.
As shown in fig. 2, the photodetector timing generator module receives the exposure mode flag from the data management module, adaptively generates different driving signals to drive the detector, and the detector generates pixel gray scale information after receiving the driving signals and outputs the pixel gray scale information to the image processing module. Meanwhile, the image processing module receives the row valid, column valid, pixel valid and exposure mode marks output by the photoelectric detector time sequence generator module, so as to realize the preprocessing of the image data and output the processed data to the data management module. The data processing module stores data (such as enable signal data, address and the like) into an external data SRAM.
From the above, the time sequence generator module of the photoelectric detector of the invention adaptively adjusts the generated time sequence signal according to the working mode of the high-precision star sensor, realizes the control of variable exposure time, and the signal for controlling the exposure time is synchronous with the external hardware pulse signal.
The image processing module is divided into two processing modes according to different modes: firstly, background estimation of star map data and target extraction based on an estimated background are carried out, an anti-noise and anti-halation sub-pixel level high-precision star sensor image processing technology is realized, image processing and detector exposure are carried out synchronously, and image processing is completed when the exposure is finished; secondly, collecting the pixel information of the small window according to the control requirement, and supplying the pixel information to the CPU to finish the image processing of the small window, aiming at improving the data updating rate and the stray light resistance of the star sensor.
As shown in fig. 3, the CPU cooperative interface module completes address decoding and data access control of the CPU, and completes read and write operations of the CPU to the external memory through the data management module. Meanwhile, the CPU cooperates with the working interface module to complete the generation of the interrupt signal of the CPU and the control of the watchdog signal. The CPU cooperative work interface module can meet the access interface requirements of processors of various types.
The invention integrates a serial port communication protocol with an attitude and orbit control subsystem, a communication protocol with a satellite module, a 1553B bus interface protocol and a high-speed data transmission communication protocol. As shown in fig. 4, the protocol layer data interaction control module mainly integrates a serial port and a high-speed data transmission interface. After receiving the serial port instruction, the command analysis unit in the protocol layer data interaction control module completes the analysis of the command, generates a corresponding control signal according to the command content, and the command response unit receives the control signal and generates response data of the command to be sent through the serial port. After the 1553B bus interface module is enabled, data interaction is realized through the 1553B bus. And after the high-speed data transmission module is enabled by the serial port command, the data to be sent in the data management module is read and sent by the high-speed data transmission interface. All the interfaces can be processed in parallel, namely, the interfaces can simultaneously face to a GNC computer, a data transmission subsystem computer, an effective load and the like for data interaction.
As shown in fig. 5, the star sensor precision temperature control module mainly includes a temperature acquisition module, a pid (proportional integral differential) control module, and a PWM (Pulse Width Modulation) module. The temperature acquisition module is mainly used for acquiring the temperature of the detector; the PID control module mainly realizes a PID algorithm and outputs control quantity. And the PWM module generates PWM pulses according to the control quantity output by the PID control module to control the refrigerator. In addition, the precise temperature control module of the star sensor can complete the functions of on-track PID parameter modification, target temperature value setting and refrigerator switching in a command injection mode.
The precise temperature control module realizes the real-time collection of temperature information, and simultaneously integrates the precise temperature control technology of the semiconductor refrigerator of the star sensor, so that the temperature control precision of the focal plane is stably better than +/-0.25 ℃, and the measurement precision of the star sensor is improved.
In summary, the high-precision star sensor information processing system provided by the invention completes the functions of star sensor photodetector timing control, image preprocessing and target extraction, protocol layer data interaction, CPU cooperative working interface, data management, precision temperature control and the like through the FPGA module, and realizes the functions of high-precision star sensor information processing, interaction, access control of external equipment and the like. The advantages of FPGA parallel processing are fully utilized, functions of image processing, protocol layer data interaction, precise temperature control and the like are integrated into the FPGA, the calculation load of a CPU is shared, and the parallel information processing capability is remarkably improved; the sequential control, the image background estimation and the star point mass center extraction of the photoelectric detector are completed in real time, and the requirements of real-time image processing and a high-reliability stray light resisting image processing strategy are met; the temperature of the detector is acquired in real time, and a PID (proportion integration differentiation) algorithm and a PWM (pulse width modulation) algorithm are integrated into the FPGA (field programmable gate array), so that the precise temperature control technology of the semiconductor refrigerator is realized, the integration level of a circuit system is improved, and the cost reduction and the product miniaturization are facilitated; the measurement precision of the star sensor is improved by the image processing technology of the sub-pixel level high-precision star sensor and the stable temperature control of the focusing plane.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. The high-precision star sensor information processing system is characterized by comprising an FPGA module, wherein the FPGA module is provided with:
the photoelectric detector time sequence generator module is connected with the detector and used for transmitting a detector driving signal;
the image processing module is connected with the detector, receives the star map data output by the detector, and processes the star map data to obtain a star map data processing result;
the protocol layer data interaction control module performs protocol interaction with external equipment;
the CPU cooperative work interface module is connected with an external CPU processor and used for data interaction;
the data management module is used for managing various data packets and is respectively connected with the image processing module, the protocol layer data interaction control module and the CPU cooperative work interface module to correspondingly carry out data interaction;
the precision temperature control module is respectively connected with the protocol layer data interaction control module, the temperature acquisition module and the current acquisition module and respectively receives the switch and control parameters, the temperature digital data and the current digital data;
the photoelectric detector time sequence generator module receives the exposure mode mark from the data management module, generates different driving signals in a self-adaptive mode to drive the detector, and generates pixel gray scale information after the detector receives the driving signals and outputs the pixel gray scale information to the image processing module; the photoelectric detector timing generator module adaptively adjusts the generated timing signal to realize variable exposure time control, and the signal for controlling the exposure time is synchronous with an external hardware pulse signal;
the image processing module receives the row valid, column valid, pixel valid and exposure mode marks output by the photoelectric detector time sequence generator module, preprocesses image data and outputs the processed data to the data management module; the image processing module is divided into two processing modes: firstly, estimating the background of star atlas data and extracting a target based on the estimated background so as to realize noise resistance and halation resistance; and secondly, collecting pixel information of the small window for the CPU to finish image processing of the small window so as to improve the data updating rate and the stray light resistance of the star sensor.
2. The high-precision star sensor information processing system of claim 1 wherein,
and the data management module is connected with an external data SRAM, receives the star atlas data processing result sent by the image processing module and stores the star atlas data processing result into the data SRAM.
3. The high-precision star sensor information processing system of claim 1 wherein,
the CPU cooperative work interface module is connected with the program SRAM and outputs a chip selection and read-write control signal set to the program SRAM;
and/or the CPU cooperative work interface module is connected with the program FLASH and outputs a chip selection and read-write control signal set to the program FLASH.
4. The high-precision star sensor information processing system of claim 1 wherein,
the CPU cooperative work interface module finishes the read and write operations of the CPU to an external memory through the data management module, and finishes the generation of an interrupt signal of the CPU and the control of a watchdog signal.
5. The high-precision star sensor information processing system of claim 4 wherein,
the memory adopts a ping-pong memory to realize the handshake time sequence design of the read control and the write control of various data of the memory, meet the read-write requirements of various data and avoid the read-write conflict of the data access of the memory.
6. The high-precision star sensor information processing system of claim 1 wherein,
and the protocol layer data interaction control module is connected with an upper computer to carry out data interaction.
7. The high-precision star sensor information processing system of claim 1 or 6 wherein,
the protocol layer data interaction control module is integrated with a serial port and a high-speed data transmission interface; after receiving a serial port instruction, a command analysis unit in the protocol layer data interaction control module analyzes the command, generates a corresponding control signal according to the content of the command, and a command response unit receives the control signal and generates response data of the command to be sent through a serial port; when the 1553B bus interface module is enabled, data interaction is carried out through a 1553B bus; when the high-speed data transmission module is enabled by the serial port command, reading data to be sent in the data management module, and sending the data through the high-speed data transmission interface;
all interfaces of the protocol layer data interaction control module can be processed in parallel, and can simultaneously face to a GNC computer, a data transmission subsystem computer and an effective load to carry out data interaction.
8. The high-precision star sensor information processing system of claim 1 wherein,
the precise temperature control module is connected with the semiconductor refrigerator and outputs the PWM signal to the semiconductor refrigerator.
9. The high-precision star sensor information processing system of claim 8 wherein,
the precision temperature control module comprises:
the temperature acquisition module is used for acquiring the temperature of the detector;
a PID control module which realizes a PID algorithm and outputs a control quantity;
and the PWM module generates PWM pulses according to the control quantity output by the PID control module and controls the semiconductor refrigerator.
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